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<li class="toctree-l3"><a class="reference internal" href="../../../../examples/docs/data_acquisition_examples.html">Data Acquisition Examples</a><ul>
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  <section id="module-bosdyn.client.robot">
<span id="robot"></span><h1>Robot<a class="headerlink" href="#module-bosdyn.client.robot" title="Permalink to this heading"></a></h1>
<p>Settings common to a user’s access to one robot.</p>
<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot.RobotError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot.</span></span><span class="sig-name descname"><span class="pre">RobotError</span></span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#RobotError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.RobotError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.Error" title="bosdyn.client.exceptions.Error"><code class="xref py py-class docutils literal notranslate"><span class="pre">Error</span></code></a></p>
<p>General class of errors to handle non-response non-grpc errors.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot.UnregisteredServiceError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot.</span></span><span class="sig-name descname"><span class="pre">UnregisteredServiceError</span></span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#UnregisteredServiceError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.UnregisteredServiceError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot.RobotError" title="bosdyn.client.robot.RobotError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotError</span></code></a></p>
<p>Full service definition has not been registered in the robot instance.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot.UnregisteredServiceNameError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot.</span></span><span class="sig-name descname"><span class="pre">UnregisteredServiceNameError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">service_name</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#UnregisteredServiceNameError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.UnregisteredServiceNameError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot.UnregisteredServiceError" title="bosdyn.client.robot.UnregisteredServiceError"><code class="xref py py-class docutils literal notranslate"><span class="pre">UnregisteredServiceError</span></code></a></p>
<p>Service name has not been registered in the robot instance.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot.UnregisteredServiceTypeError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot.</span></span><span class="sig-name descname"><span class="pre">UnregisteredServiceTypeError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">service_type</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#UnregisteredServiceTypeError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.UnregisteredServiceTypeError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot.UnregisteredServiceError" title="bosdyn.client.robot.UnregisteredServiceError"><code class="xref py py-class docutils literal notranslate"><span class="pre">UnregisteredServiceError</span></code></a></p>
<p>Service type has not been registered in the robot instance.</p>
</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot.</span></span><span class="sig-name descname"><span class="pre">Robot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>Settings common to one user’s access to one robot.</p>
<p>This is the main point of access to all client functionality.  The ensure_client member is used
to get any client to a service exposed on the robot.  Additionally, many helpers are exposed to
provide commonly used functionality without explicitly accessing a particular client object.</p>
<p>Note that any rpc call made to the robot can raise an RpcError subclass if there are errors
communicating with the robot.  Additionally, ResponseErrors will be raised if there was an error
acting on the request itself.  An InvalidRequestError indicates a programming error, where the
request was malformed in some way.  InvalidRequestErrors will never be thrown except in the
case of client bugs.</p>
<p>See also Sdk and BaseClient</p>
<dl class="py attribute">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.token_refresh_error_callback">
<span class="sig-name descname"><span class="pre">token_refresh_error_callback</span></span><a class="headerlink" href="#bosdyn.client.robot.Robot.token_refresh_error_callback" title="Permalink to this definition"></a></dt>
<dd><p>Optional callback to be invoked when
an error occurs in the token refresh thread.</p>
<dl class="field-list simple">
<dt class="field-odd">Type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Callable[[Exception], <a class="reference internal" href="error_callback_result.html#bosdyn.client.error_callback_result.ErrorCallbackResult" title="bosdyn.client.error_callback_result.ErrorCallbackResult">ErrorCallbackResult</a>] | None</p>
</dd>
</dl>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.host">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">host</span></span><a class="headerlink" href="#bosdyn.client.robot.Robot.host" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.setup_token_cache">
<span class="sig-name descname"><span class="pre">setup_token_cache</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">token_cache</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">unique_id</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.setup_token_cache"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.setup_token_cache" title="Permalink to this definition"></a></dt>
<dd><p>Instantiates a token cache to persist the user token.</p>
<p>If the user provides a cache, it will be saved in the robot object for convenience.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.update_from">
<span class="sig-name descname"><span class="pre">update_from</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.update_from"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.update_from" title="Permalink to this definition"></a></dt>
<dd><p>Adds to this object’s processors, etc. based on other</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.ensure_client">
<span class="sig-name descname"><span class="pre">ensure_client</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">service_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">channel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">[]</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">service_endpoint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.ensure_client"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.ensure_client" title="Permalink to this definition"></a></dt>
<dd><p>Ensure a Client for a given service.
Note: If a new service has been registered with the directory service, this may raise
UnregisteredServiceNameError when trying to connect to it until sync_with_directory() is
called.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>service_name</strong> – The name of the service.</p></li>
<li><p><strong>channel</strong> – gRPC channel object to use. Default None, in which case the Sdk data
is used to generate a channel. The channel will become associated with
the client.</p></li>
</ul>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><a class="reference internal" href="#bosdyn.client.robot.UnregisteredServiceNameError" title="bosdyn.client.robot.UnregisteredServiceNameError"><strong>UnregisteredServiceNameError</strong></a> – The service is not known.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot.UnregisteredServiceTypeError" title="bosdyn.client.robot.UnregisteredServiceTypeError"><strong>UnregisteredServiceTypeError</strong></a> – The client type for this service was never registered.</p></li>
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – There was an error communicating with the robot.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.shutdown">
<span class="sig-name descname"><span class="pre">shutdown</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.shutdown"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.shutdown" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.get_cached_robot_id">
<span class="sig-name descname"><span class="pre">get_cached_robot_id</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.get_cached_robot_id"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.get_cached_robot_id" title="Permalink to this definition"></a></dt>
<dd><p>Return the RobotId proto for this robot, querying it from the robot if not yet cached.</p>
<dl class="field-list simple">
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – There as a problem communicating with the robot.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.get_cached_hardware_hardware_configuration">
<span class="sig-name descname"><span class="pre">get_cached_hardware_hardware_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.get_cached_hardware_hardware_configuration"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.get_cached_hardware_hardware_configuration" title="Permalink to this definition"></a></dt>
<dd><p>Return the HardwareConfiguration proto for this robot, querying it from the robot if not
yet cached.</p>
<dl class="field-list simple">
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – There as a problem communicating with the robot.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.ensure_channel">
<span class="sig-name descname"><span class="pre">ensure_channel</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">service_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">[]</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">service_endpoint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.ensure_channel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.ensure_channel" title="Permalink to this definition"></a></dt>
<dd><p>Verify the right information exists before calling the ensure_secure_channel
method.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>service_name</strong> – Name of the service in the directory.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Existing channel if found, or newly created channel if not found.</p>
</dd>
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – There was a problem communicating with the robot.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot.UnregisteredServiceNameError" title="bosdyn.client.robot.UnregisteredServiceNameError"><strong>UnregisteredServiceNameError</strong></a> – service_name is unknown.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.ensure_secure_channel">
<span class="sig-name descname"><span class="pre">ensure_secure_channel</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">authority</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">[]</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.ensure_secure_channel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.ensure_secure_channel" title="Permalink to this definition"></a></dt>
<dd><p>Get the channel to access the given authority, creating it if it doesn’t exist.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.authenticate">
<span class="sig-name descname"><span class="pre">authenticate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">username</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">password</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.authenticate"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.authenticate" title="Permalink to this definition"></a></dt>
<dd><p>Authenticate to this Robot with the username/password at the given service.</p>
<dl class="field-list simple">
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><a class="reference internal" href="auth.html#bosdyn.client.auth.InvalidLoginError" title="bosdyn.client.auth.InvalidLoginError"><strong>InvalidLoginError</strong></a> – The username and/or password are not valid.</p></li>
<li><p><a class="reference internal" href="token_cache.html#bosdyn.client.token_cache.WriteFailedError" title="bosdyn.client.token_cache.WriteFailedError"><strong>token_cache.WriteFailedError</strong></a> – Authentication succeeded, but failed to update the
    local token_cache.</p></li>
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – There was a problem communicating with the robot.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.authenticate_with_token">
<span class="sig-name descname"><span class="pre">authenticate_with_token</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">token</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.authenticate_with_token"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.authenticate_with_token" title="Permalink to this definition"></a></dt>
<dd><p>Authenticate to this Robot with the token at the given service.</p>
<dl class="field-list simple">
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><a class="reference internal" href="auth.html#bosdyn.client.auth.InvalidTokenError" title="bosdyn.client.auth.InvalidTokenError"><strong>InvalidTokenError</strong></a> – The token was incorrectly formed, for the wrong robot, or expired.</p></li>
<li><p><a class="reference internal" href="token_cache.html#bosdyn.client.token_cache.WriteFailedError" title="bosdyn.client.token_cache.WriteFailedError"><strong>token_cache.WriteFailedError</strong></a> – Authentication succeeded, but failed to update the
    local token_cache.</p></li>
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – There was a problem communicating with the robot.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.authenticate_from_cache">
<span class="sig-name descname"><span class="pre">authenticate_from_cache</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">username</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.authenticate_from_cache"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.authenticate_from_cache" title="Permalink to this definition"></a></dt>
<dd><p>Authenticate to this Robot with a cached token at the given service.</p>
<dl class="field-list simple">
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><a class="reference internal" href="token_cache.html#bosdyn.client.token_cache.NotInCacheError" title="bosdyn.client.token_cache.NotInCacheError"><strong>token_cache.NotInCacheError</strong></a> – No token found for this robot/username.</p></li>
<li><p><a class="reference internal" href="token_cache.html#bosdyn.client.token_cache.WriteFailedError" title="bosdyn.client.token_cache.WriteFailedError"><strong>token_cache.WriteFailedError</strong></a> – Authentication succeeded, but failed to update the
    local token_cache.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.authenticate_from_payload_credentials">
<span class="sig-name descname"><span class="pre">authenticate_from_payload_credentials</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">guid</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">secret</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">payload_registration_client</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">retry_interval</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.authenticate_from_payload_credentials"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.authenticate_from_payload_credentials" title="Permalink to this definition"></a></dt>
<dd><p>Authenticate to this Robot with the guid/secret of the hosting payload.</p>
<p>This call is used to authenticate to a robot using payload credentials. If a payload is
not yet authorized, it will block until the payload is authorized by an operator in the
robot web page.</p>
<dl class="field-list simple">
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><a class="reference internal" href="payload_registration.html#bosdyn.client.payload_registration.InvalidPayloadCredentialsError" title="bosdyn.client.payload_registration.InvalidPayloadCredentialsError"><strong>InvalidPayloadCredentialsError</strong></a> – The guid and/or secret are not valid.</p></li>
<li><p><a class="reference internal" href="token_cache.html#bosdyn.client.token_cache.WriteFailedError" title="bosdyn.client.token_cache.WriteFailedError"><strong>token_cache.WriteFailedError</strong></a> – Authentication succeeded, but failed to update the
    local token_cache.</p></li>
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – There was a problem communicating with the robot.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.update_user_token">
<span class="sig-name descname"><span class="pre">update_user_token</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">user_token</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">username</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.update_user_token"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.update_user_token" title="Permalink to this definition"></a></dt>
<dd><p>Update this Robot with a user token.</p>
<dl class="field-list simple">
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="token_cache.html#bosdyn.client.token_cache.WriteFailedError" title="bosdyn.client.token_cache.WriteFailedError"><strong>token_cache.WriteFailedError</strong></a> – Error saving to the cache.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.get_cached_usernames">
<span class="sig-name descname"><span class="pre">get_cached_usernames</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.get_cached_usernames"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.get_cached_usernames" title="Permalink to this definition"></a></dt>
<dd><p>Return an ordered list of usernames queryable from the cache.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.get_id">
<span class="sig-name descname"><span class="pre">get_id</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id_service_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'robot-id'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.get_id"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.get_id" title="Permalink to this definition"></a></dt>
<dd><p>Get all the information that identifies the robot.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.list_services">
<span class="sig-name descname"><span class="pre">list_services</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.list_services"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.list_services" title="Permalink to this definition"></a></dt>
<dd><p>Get all the available services on the robot.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.sync_with_directory">
<span class="sig-name descname"><span class="pre">sync_with_directory</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.sync_with_directory"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.sync_with_directory" title="Permalink to this definition"></a></dt>
<dd><p>Update local state with all available services on the robot.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>Mapping of service name to service type</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p>Dict[string, string]</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.sync_with_services_list">
<span class="sig-name descname"><span class="pre">sync_with_services_list</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">services_list</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.sync_with_services_list"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.sync_with_services_list" title="Permalink to this definition"></a></dt>
<dd><p>Alternate version of sync_with_directory() that takes the list of services
directly and does not perform any rpcs.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>Mapping of service name to service type</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p>Dict[string, string]</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.register_payload_and_authenticate">
<span class="sig-name descname"><span class="pre">register_payload_and_authenticate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">payload</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">secret</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">auth_retry_interval</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.register_payload_and_authenticate"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.register_payload_and_authenticate" title="Permalink to this definition"></a></dt>
<dd><p>Register a payload with the robot and request a user_token.</p>
<p>This method will block until the payload is authorized by an operator in the robot webpage.
:raises InvalidPayloadCredentialsError: The guid and/or secret are not valid.
:raises InvalidPayloadCredentialsError: The payload was rejected on the robot web page.
:raises token_cache.WriteFailedError: Authentication succeeded, but failed to update the
    local token_cache.
:raises RpcError: There was a problem communicating with the robot.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.start_time_sync">
<span class="sig-name descname"><span class="pre">start_time_sync</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">time_sync_interval_sec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.start_time_sync"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.start_time_sync" title="Permalink to this definition"></a></dt>
<dd><p>Start time sync thread if needed.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>time_sync_interval_sec</strong> (<em>float</em>) – The interval (in seconds) that the time-sync estimate should be updated.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.stop_time_sync">
<span class="sig-name descname"><span class="pre">stop_time_sync</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.stop_time_sync"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.stop_time_sync" title="Permalink to this definition"></a></dt>
<dd><p>Stop the time sync thread if needed.</p>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.time_sync">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">time_sync</span></span><a class="headerlink" href="#bosdyn.client.robot.Robot.time_sync" title="Permalink to this definition"></a></dt>
<dd><p>Accessor for the time-sync thread.  Creates and starts thread if not already started.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.time_sec">
<span class="sig-name descname"><span class="pre">time_sec</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.time_sec"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.time_sec" title="Permalink to this definition"></a></dt>
<dd><p>Get current robot time, seconds. Kicks off background time sync thread if not started.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>Current robot time, seconds.</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p>double</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.operator_comment">
<span class="sig-name descname"><span class="pre">operator_comment</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">comment</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timestamp_secs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.operator_comment"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.operator_comment" title="Permalink to this definition"></a></dt>
<dd><p>Send an operator comment to the robot for the robot’s log files.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>comment</strong> (<em>string</em>) – Operator comment text to be added to the log.</p></li>
<li><p><strong>timestamp_secs</strong> (<em>float</em>) – Comment time in seconds since the unix epoch (client clock).
If set, this is converted to robot time when sent to the robot.
If None and time sync is available, the current time is converted
to robot time and sent as the comment timestamp.
If None and time sync is unavailable, the logged timestamp will
be the time the robot receives this message.</p></li>
<li><p><strong>timeout</strong> (<em>float</em>) – Number of seconds to wait for RPC response.</p></li>
</ul>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><a class="reference internal" href="time_sync.html#bosdyn.client.time_sync.NotEstablishedError" title="bosdyn.client.time_sync.NotEstablishedError"><strong>NotEstablishedError</strong></a> – timestamp_secs given, but time-sync has not been achieved.</p></li>
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – A problem occurred sending the comment to the robot.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.log_event">
<span class="sig-name descname"><span class="pre">log_event</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">event_type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">level</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">description</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_timestamp_secs</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">end_timestamp_secs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id_str</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">parameters</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">log_preserve_hint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.log_event"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.log_event" title="Permalink to this definition"></a></dt>
<dd><p>Add an Event to the Data Buffer.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>event_type</strong> (<em>string</em>) – The type of event.</p></li>
<li><p><strong>level</strong> (<em>bosdyn.api.Event.Level</em>) – The relative importance of the event.</p></li>
<li><p><strong>description</strong> (<em>string</em>) – A human-readable description of the event.</p></li>
<li><p><strong>start_timestamp_secs</strong> (<em>float</em>) – Start of the event, in local time.</p></li>
<li><p><strong>end_timestamp_secs</strong> (<em>float</em>) – End of the event.  start_timestamp_secs is used if None.</p></li>
<li><p><strong>id_str</strong> (<em>string</em>) – Unique id for event.  A uuid is generated if None.</p></li>
<li><p><strong>parameters</strong> (<em>[</em><em>bosdyn.api.Parameter</em><em>]</em>) – Parameters to attach to the event.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.power_on">
<span class="sig-name descname"><span class="pre">power_on</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout_sec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">20</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">update_frequency</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.power_on"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.power_on" title="Permalink to this definition"></a></dt>
<dd><p>Power on robot. This function blocks until robot powers on.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>timeout_sec</strong> (<em>float</em>) – Max time this function will block for.</p></li>
<li><p><strong>update_frequency</strong> (<em>float</em>) – Frequency at which power status is checked.</p></li>
<li><p><strong>timeout</strong> – Number of seconds to wait for RPC response.</p></li>
</ul>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><a class="reference internal" href="power.html#bosdyn.client.power.PowerResponseError" title="bosdyn.client.power.PowerResponseError"><strong>PowerResponseError</strong></a> – Problem with the power on sequence.</p></li>
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – Problem communicating with the robot.</p></li>
<li><p><strong>power_client.CommandTimedOutError</strong> – The robot did not power on within timeout_sec</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.power_off">
<span class="sig-name descname"><span class="pre">power_off</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cut_immediately</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout_sec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">20</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">update_frequency</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.power_off"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.power_off" title="Permalink to this definition"></a></dt>
<dd><p>Power off robot. This function blocks until robot powers off. By default, this will
attempt to put the robot in a safe state before cutting power.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>cut_immediately</strong> (<em>bool</em>) – True to cut power to the robot immediately. False to issue a
safe power off command to the robot.</p></li>
<li><p><strong>timeout_sec</strong> (<em>float</em>) – Max time this function will block for.</p></li>
<li><p><strong>update_frequency</strong> (<em>float</em>) – Frequency at which power status is checked.</p></li>
<li><p><strong>timeout</strong> – Number of seconds to wait for RPC response.</p></li>
</ul>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – Problem communicating with the robot.</p></li>
<li><p><strong>power_client.CommandTimedOutError</strong> – The robot did not power off within timeout_sec</p></li>
<li><p><a class="reference internal" href="power.html#bosdyn.client.power.PowerResponseError" title="bosdyn.client.power.PowerResponseError"><strong>PowerResponseError</strong></a> – If cut_immediately, raised on problems with the power on
    sequence.</p></li>
<li><p><a class="reference internal" href="robot_command.html#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><strong>RobotCommandResponseError</strong></a> – If not cut_immediately, raised on problems with the safe
    power off.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.is_powered_on">
<span class="sig-name descname"><span class="pre">is_powered_on</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.is_powered_on"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.is_powered_on" title="Permalink to this definition"></a></dt>
<dd><p>Check the power state of the robot.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>timeout</strong> – Number of seconds to wait for RPC response.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Returns True if robot is powered on, False otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – A problem occurred trying to communicate with the robot.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.is_estopped">
<span class="sig-name descname"><span class="pre">is_estopped</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.is_estopped"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.is_estopped" title="Permalink to this definition"></a></dt>
<dd><dl class="simple">
<dt>Check if the robot is estopped, usually indicating if an external application has not</dt><dd><p>registered and held an estop endpoint.</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>timeout</strong> – Number of seconds to wait for RPC response.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Returns True if robot is estopped, False otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – A problem occurred trying to communicate with the robot.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.get_frame_tree_snapshot">
<span class="sig-name descname"><span class="pre">get_frame_tree_snapshot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.get_frame_tree_snapshot"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.get_frame_tree_snapshot" title="Permalink to this definition"></a></dt>
<dd><p>Get the current frame tree snapshot from the robot state client.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>timeout</strong> – Number of seconds to wait for RPC response.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>An instance of the bosdyn.api.FrameTreeSnapshot that contains data
from the latest robot state.</p>
</dd>
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – A problem occurred sending the comment to the robot.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.has_arm">
<span class="sig-name descname"><span class="pre">has_arm</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.has_arm"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.has_arm" title="Permalink to this definition"></a></dt>
<dd><p>Check if the robot has an arm attached.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>timeout</strong> – Number of seconds to wait for RPC response.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Returns True if robot has an arm, False otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – A problem occurred trying to communicate with the robot.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot.Robot.update_secure_channel_port">
<span class="sig-name descname"><span class="pre">update_secure_channel_port</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">secure_channel_port</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot.html#Robot.update_secure_channel_port"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot.Robot.update_secure_channel_port" title="Permalink to this definition"></a></dt>
<dd><p>Update the port used for creating secure channels, instead of using the default 443.</p>
<p>Calling this method does not change existing channels. It only affects secure channels
created after this method is called.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>secure_channel_port</strong> – New port to use for creating secure channels.</p>
</dd>
</dl>
</dd></dl>

</dd></dl>

</section>


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